Design and Experiment of the Underwater Robotic Fish for Petroleum Pipeline Inspection System

  • Hui Li
  • Ruiqin LiEmail author
  • Jian Zhu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Aiming at the underwater robotic fish in the inspection process of petroleum pipeline, the paper presents a method of detecting the petroleum leakage point by using the single joint flexible caudal fin as a propeller and using the CMOS image sensor OV7725 to trace the trail. A 32 bit SCM MK60DN512 is used to drive camera work. The collected data are analyzed and processed. The real-time monitoring is carried out. The image denoising and light treatment are also carried out. The motion trajectory of the robotic fish is made to coincide with the pipeline to the maximum extent. The balance and the velocity stability of the robotic fish are improved by means of system optimization strategy. The test results show that the velocity of the robotic fish is fast and stable, and the accuracy of the pipeline inspection is high.


Robotic fish Detection of petroleum leakage point Image processing Self-tracing Body and/or caudal fin (BCF) 


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This research was supported by the Shanxi Key Research and Development Program and the Foundation of Shanxi Key Laboratory of Advanced Manufacturing Technology (Grant number XJZZ201702).


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Mechanical EngineeringNorth University of ChinaTaiyuanChina
  2. 2.Department of Mining EngineeringLüliang UniversityLüliangChina

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